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Surgical robots have had clinical use since the mid 1990s. Robot-assisted surgeries offer many benefits over the conventional approach including lower risk of infection and blood loss, shorter recovery, and an overall safer procedure for…
We explore the dexterous manipulation transfer problem by designing simulators. The task wishes to transfer human manipulations to dexterous robot hand simulations and is inherently difficult due to its intricate, highly-constrained, and…
This paper presents the UGSim, a simulator for buoyancy-driven gliders, with a LQR control strategy, and a recursive guidance system. Building on the top of the DAVE and the UUVsim, it is designed to address unique challenges that come from…
Robotic assistance has significantly improved the outcomes of open microsurgery and rigid endoscopic surgery, however is yet to make an impact in flexible endoscopic neurosurgery. Some of the most common intracranial procedures for…
There are many artificial intelligence algorithms for autonomous driving, but directly installing these algorithms on vehicles is unrealistic and expensive. At the same time, many of these algorithms need an environment to train and…
Robotic arms are essential to modern industries, however, their adaptability to unstructured environments remains limited. Soft robotic arms, particularly those actuated pneumatically, offer greater adaptability in unstructured environments…
This paper presents the development of a real-time simulator for the validation of controlling a large vehicle manipulator. The need for this development can be justified by the lack of such a simulator: There are neither open source…
Closed-loop simulation environments play a crucial role in the validation and enhancement of autonomous driving systems (ADS). However, certain challenges warrant significant attention, including balancing simulation accuracy with duration,…
Optical tweezers (OT) offer unparalleled capabilities for micromanipulation with submicron precision in biomedical applications. However, controlling conventional multi-trap OT to achieve cooperative manipulation of multiple complex-shaped…
The development of algorithms for automation of subtasks during robotic surgery can be accelerated by the availability of realistic simulation environments. In this work, we focus on one aspect of the realism of a surgical simulator, which…
Micromobility, which utilizes lightweight mobile machines moving in urban public spaces, such as delivery robots and mobility scooters, emerges as a promising alternative to vehicular mobility. Current micromobility depends mostly on human…
Developing embodied agents capable of performing complex interactive tasks in real-world scenarios remains a fundamental challenge in embodied AI. Although recent advances in simulation platforms have greatly enhanced task diversity to…
Traffic simulation is essential for autonomous vehicle (AV) development, enabling comprehensive safety evaluation across diverse driving conditions. However, traditional rule-based simulators struggle to capture complex human interactions,…
Many have explored the application of continuum robot manipulators for minimally invasive surgery, and have successfully demonstrated the advantages their flexible design provides -- with some solutions having reached commercialisation and…
Unmanned Aerial Vehicle (UAV) systems are being increasingly used in a broad range of applications requiring extensive communications, either to interconnect the UAVs with each other or with ground resources. Focusing either on the modeling…
In this paper, we propose a model-based contact-aware motion planner for autonomous navigation of neuroendovascular tools in acute ischemic stroke. The planner is designed to find the optimal control strategy for telescopic pre-bent…
Simulations of Cardiac Electrophysiology are gaining momentum beyond basic mechanistic studies, as an approach for supporting clinical decision making. The potential for in silico technologies observed from the research community is…
One of the major challenges of a real-time autonomous robotic system for construction monitoring is to simultaneously localize, map, and navigate over the lifetime of the robot, with little or no human intervention. Past research on…
Enodvascular coils treat intracranial aneurysms (IAs) by causing them to occlude by thrombosis. Ideally, coiled IAs eventually occlude in the long-term. However, 20.8% are found incompletely occluded at treatment follow-up. Computer…
The emergence of vision catalysed a pivotal evolutionary advancement, enabling organisms not only to perceive but also to interact intelligently with their environment. This transformation is mirrored by the evolution of robotic systems,…